How to get out

So this morning I told my husband and kids I had a bad headache and wasn't feeling good. My husband proceeds to tell our toddlers to jump on me and if they can push me off the bed and get me up then we can all go get donuts. So of course they jumped on me and tried to push me off the bed. He kept telling them to bother me until i got up. He was laying down right beside me on his phone. I kept saying to stop and for him to just get up i didn't feel good. He refused so i said "just be a man and get up please." I know my wording may not have been the best but it triggered him hard. He started shaking and screaming at me with the boys right there (5 and 2). Calling me a shit partner and a fucking piece of trash (my 2 year old then said fuck for the first time) and a bunch of other mean things. He kept yelling at me, naturally i apologized. He did not accept the apology and said that i said it to intentionally hurt him because i said it out of anger. I didn't say it the way he was insinuating at all and i said that I did not mean it that way. He said that I needed to admit it NOW or he was leaving and was done with me. That i did not deserve his love and his respect. I still did not, I apologized again but did not say that i truly meant it out of pure anger and hatred. He started shaking again and grabbed a pillow and threw it at my face hard. Both boys started yelling at him more telling him to stop and to be nice to mommy. He said there I go again acting like a victim and turning his children against him because i was crying and just telling him to stop. He said why dont you just call the police then and ruin my life some more! My 5 year old kept saying to call the police to get daddy. He kept yelling and screaming and saying vile things. He demanded that i leave (it is like 33 degrees out right now) and take the kids. I said no he can leave if that's how he feels. So he said "WE'RE FUCKING DONE, DONE" and he left the house. I cried and apologized to my (our) children and my 5 year old said it's okay mommy I'm here for you and I'm not mad at you at all. That made me want to cry more. My husband left for 2ish hours and then came home, took a shower and started watching his show on his computer. He has since not made any comment on the situation or acted like anything happened. While the boys and i were eating breakfast and watching bubble guppies. I am no where near ANY family. My family also hates my husband and I have stood up for him many times when he really didn't deserve it but i had to. So I don't think they would help me. I feel so alone and also so guilty that my children saw what happened. I have a good paying job but in this economy i don't know how to survive on one income. We've been together for 10 years and I've never been alone (we got married on my 18th birthday).